/*
 * PersonDetector.cpp
 *
 *  Created on: Dec 5, 2010
 *      Author: bipins
 */
#include "PersonDetector.h"

PersonDetector::PersonDetector(ros::NodeHandle n)
	: cpf(n)	{

}

void PersonDetector::setObstacleCostMap(const MATRIX &m)	{
	cpf.setObstacleCostMap(m);
}

void PersonDetector::estimateNumberOfPersons(const MyPose &robotPose, const PoseArray &personPoses,
		const PoseArray &personPosesMeans, const vector<DD> &personPosesStds,
		const Robot &robot, int &M, STLPose &newPerson, const MATRIX &map)	{

	cpf.numberOfUnknownObstacles(robotPose, personPoses, personPosesMeans, personPosesStds, robot, M, newPerson, map);

}
